Directly imaging extrasolar terrestrial planets necessarily means contending with the astrophysical noise of exozodiacal dust and the resonant structures created by these planets in exozodiacal clouds. Using a custom tailored hybrid symplectic integrator we have constructed 120 models of resonant structures created by exo-Earths and super-Earths on circular orbits interacting with collisionless steady-state dust clouds around a Sun-like star. Our models include enough particles to overcome the limitations of previous simulations that were often dominated by a handful of long-lived particles, allowing us to quantitatively study the contrast of the resulting ring structures. We found that in the case of a planet on a circular orbit, for a given star and dust source distribution, the morphology and contrast of the resonant structures depend on only two parameters: planet mass and (square root)ap/Beta, where ap is the planet's semi-major axis and Beta is the ratio of radiation pressure force to gravitational force on a grain. We constructed multiple-grain-size models of 25,000 particles each and showed that in a collisionless cloud, a Dohnanyi crushing law yields a resonant ring whose optical depth is dominated by the largest grains in the distribution, not the smallest. We used these models to estimate the mass of the lowest-mass planet that can be detected through observations of a resonant ring for a variety of assumptions about the dust cloud and the planet's orbit. Our simulations suggest that planets with mass as small as a few times Mars' mass may produce detectable signatures in debris disks at ap greater than or approximately equal to 10 AU.